| It is an important foundation for implementing agencies to perceive the surrounding environment and carry out specific tasks by studying the spatial coordinate relationship in the terminal locating system. It is significant for the upgrading and transformation of the traditional manufacturing industry.In the calibration of camera parameters, the subject carried out a detailed study on the classic Zhang Zhengyou template calibration algorithm. The inner and outer parameters of the camera are calculated by experiments. On this basis, a method to optimize the distortion parameters of the camera is presented, and then the results of the calibration are backprojected. By comparing the projection error map before and after the optimization method, it is verified that the optimization method can effectively improve the calibration precision of the camera parameters, and has good operability.Based on the calibration of the camera, in this subject, the method of solving the traditional transformation matrix is analyzed and summarized. And a solution method based on matrix direct product theory is proposed. The rotation part and the translation part of the transformation matrix are solved at the same time by the method. When solving the transformation matrix, the parameter error propagation problem is avoided by this method. The validity of the method is verified by solving the transformation matrix experiment.Finally, the inverse kinematics solution of the actuator is optimized so that the end of the actuator can reach the predetermined spatial position more accurately. In this paper, radial basis function (RBF) neural network and fuzzy logic are combined to solve the inverse kinematics of actuator. In Cartesian space, Cartesian coordinates at the singular point are used as test set and the actuator's D-H parameters are used as training sets to train the neural network The simulation results show that the method has high accuracy... |
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